两柔性机器人的协调操作及其动力学控制

The study on the cooperation of flexible robot manipulators is newly developed in present project by combining the flexible manipulators with the multi-loop cooperation. The dynamic models of flexible robots manipulating rigid payload, open-loop rigid payload, closed-loop rigid payload and flexible payload are established at first in this study. The control algorithm of the forward and inverse dynamics for the cooperation of flexible multi-robot is then presented. The method for restraining the process vibration and residual vibration in the desired cooperation task is proposed consequently. Furthermore, the effect of material, geometrical and structural parameters of robots on the dynamic characteristics of coordinated system is investigated through numerical simulation. As a result, the optimal schemes for the kinematic and dynamic program and design are presented for the cooperation of flexible robot manipulators.

将柔性机器人和机器人协调操作加以融合，创新开拓了柔性机器人协调操作的研究方向。本项目将建立柔性机器人协调操作动力学模型，给出其正、逆动力学问题的控制算法，提出协调作业的过程中振动及余振的抑制方法，进行动力学仿真，分析机械臂各参数对系统动力学性能的影响及规律，提出针对协调作业的柔性机器人协调操作系统的设计准则和优化策略。